CN115285213B - Road sense simulation method, system, equipment and storage medium - Google Patents

Abstract

The application discloses a road feel simulation method, a system, equipment and a storage medium, and belongs to the technical field of vehicle steering. The road feel simulation method comprises the following steps: determining a road sense simulation mode based on the speed of the whole vehicle and the game mode signal, wherein the road sense simulation mode comprises a normal driving road sense mode and a game road sense mode; and acquiring a target moment corresponding to the road feel simulation mode, and sending the target moment to a motor control module so that the motor control module controls a motor to generate the moment identical to the target moment. The scheme is suitable for road feel simulation in the normal running process of the vehicle and when the vehicle is used as a simulator, and the application range is enlarged.

Description

Way sense simulation method, system, device and storage medium

technical field

The present application relates to the technical field of vehicle steering, and in particular to a road feeling simulation method, system, device and storage medium.

Background technique

The vehicle steering-by-wire system uses sensors to perceive the driver's driving intention, and transmits the data to the controller through the vehicle Controller Area Network (CAN) bus. The controller controls the action of the actuator according to the algorithm to realize the lateral steering control of the vehicle. , thus replacing the mechanical connection between the traditional car steering wheel and the steering wheel, and fully realize the steering by wire. Among them, one of the key technologies of the steer-by-wire system is road feeling simulation. In the steer-by-wire system, the road feel needs to be calculated by integrating various sensor signals in the controller.

With the development of technology, the vehicle can also be used as a simulator for car driving games. When the vehicle is used as a simulator, there is a certain gap between its driving environment and the real environment. However, the existing road feeling simulation method is only applicable to the road feeling simulation during the normal driving process of the vehicle, and cannot be used for the road feeling simulation when the vehicle is used as a simulator. That is to say, the existing road feeling simulation method has a single scope of application.

The above content is only used to assist in understanding the technical solution of the present application, and does not mean that the above content is admitted as prior art.

Contents of the invention

The main purpose of the present application is to provide a road feeling simulation method, system, device and storage medium, aiming to solve the technical problem that the existing road feeling simulation methods have a single scope of application.

In order to achieve the above purpose, the present application provides a road feeling simulation method, including the following steps:

Based on the vehicle speed and the game mode signal, the road feeling simulation mode is determined, and the road feeling simulation mode includes a normal driving road feeling mode and a game road feeling mode;

The target torque corresponding to the road feeling simulation mode is obtained and sent to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque.

Optionally, the step of obtaining the target torque corresponding to the road sense simulation mode and sending it to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque, includes:

When the road feeling simulation mode is a normal driving road feeling mode, the first target torque is determined based on vehicle speed, rack force, steering wheel angle and steering wheel speed;

sending the first target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the first target torque;

When the road feeling simulation mode is the game road feeling mode, the second target torque is determined based on the game map information, the steering wheel angle and the steering wheel speed;

Sending the second target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the second target torque.

Optionally, the step of determining the first target torque based on vehicle speed, rack force, steering wheel angle and steering wheel speed includes:

Inputting the position information of the rack of the steering actuator, the moving speed of the rack of the steering actuator and the output torque of the motor of the steering actuator to a preset rack force prediction model, the rack force prediction model outputs the rack force;

Determining the first target sub-torque corresponding to the vehicle speed and the rack force based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque;

Determine the steering wheel angle and steering wheel speed according to the source steering wheel angle and the source motor angle;

determining a damping torque based on the steering angle and the rotation speed of the steering wheel;

The first target torque is obtained by superimposing the first target sub-torque with the damping torque.

Optionally, before the step of determining the first target sub-torque corresponding to the vehicle speed and the rack force based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, Also includes:

performing high-pass filtering on the rack force to obtain high-frequency rack force;

The step of determining the first target sub-torque corresponding to the vehicle speed and the rack force based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque includes:

Based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, the first target sub-torque corresponding to the vehicle speed and the high-frequency rack force is determined.

Optionally, the step of determining the second target torque based on the game map information, steering wheel angle and steering wheel speed includes:

Based on the game map information, determine the speed of the game scene and the impact frequency of the game scene;

Determine the steering wheel angle and steering wheel speed according to the source steering wheel angle and the source motor angle;

Determine a second target sub-moment based on the vehicle speed in the game scene, the steering wheel angle, and the steering wheel rotation speed;

Determine the impact moment based on the impact frequency of the game scene;

The second target torque is obtained by superimposing the second target sub-torque with the impact torque.

Optionally, the step of determining the steering wheel angle and the steering wheel speed according to the source steering wheel angle and the source motor angle includes:

Verify the validity of the source steering wheel angle and the source motor angle;

If both the source steering wheel angle and the source motor angle are valid, then initialize the source motor angle to obtain an initialized motor angle;

Proportional conversion is performed on the initialization motor angle to obtain the steering wheel angle;

Perform differential processing on the initialized motor rotation angle to obtain the rotation speed of the steering wheel.

Optionally, the step of initializing the source motor rotation angle to obtain the initialization motor rotation angle includes:

Zero calibration is performed on the source motor rotation angle to obtain an initialization motor rotation angle.

In addition, in order to achieve the above purpose, the present application also provides a road feeling simulation system, which includes:

A mode determination module, configured to determine a road feeling simulation mode based on the vehicle speed and the game mode signal, and the road feeling simulation mode includes a normal driving road feeling mode and a game road feeling mode;

The target torque acquiring module is used to acquire the target torque corresponding to the road feeling simulation mode, and send it to the motor control module, so that the motor control module can control the motor to generate the same torque as the target torque.

In addition, in order to achieve the above purpose, the present application also provides a road feeling simulation device, which includes: a memory, a processor, and a road feeling simulation program stored in the memory and operable on the processor. The road feeling simulation program is configured to implement the steps of the road feeling simulation method described above.

In addition, in order to achieve the above purpose, the present application also provides a storage medium, on which a road feeling simulation program is stored, and when the road feeling simulation program is executed by a processor, the steps of the road feeling simulation method as described above are realized. .

This application provides a road feeling simulation method, system, device and storage medium. Compared with the road feeling simulation method in the prior art, which is only applicable to the road feeling simulation during the normal driving process of the vehicle, this application first bases on the vehicle speed and the game mode signal to determine the road feeling simulation mode, the road feeling simulation mode includes the normal driving road feeling mode and the game road feeling mode, and then obtain the target torque corresponding to the road feeling simulation mode, and send it to the motor control module, The motor control module controls the motor to generate the same torque as the target torque. Therefore, the present application uses the vehicle speed and the game mode signal to determine the current road feeling simulation mode of the vehicle, and then obtain the corresponding road feeling simulation mode. The target torque, the road feeling simulation method of this application is suitable for the normal driving process of the vehicle and the road feeling simulation when the vehicle is used as a simulator, which expands the scope of application, so it overcomes that the road feeling simulation method in the prior art is only applicable to the normal driving of the vehicle The technical defect of the road feeling simulation in the process, therefore, solves the technical problem that the road feeling simulation method has a single scope of application.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is a schematic flow chart of a road feeling simulation method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a refinement process for acquiring the target torque corresponding to the road sense mode in the present application;

FIG. 3 is a schematic structural diagram of a road feeling simulation system according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a road feeling simulation device in a hardware operating environment involved in the solution of the embodiment of the present application.

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

The road feeling simulation method provided in the embodiment of the present application is completed based on the road feeling simulation system. The road feeling simulation system is installed on the vehicle. The specific type of the vehicle is not specifically limited in the embodiment of the present application. Compared with the road feeling simulation system, the vehicle is the The host vehicle of the road feeling simulation system.

The embodiment of the present application provides a road feeling simulation method. Referring to FIG. 1 , FIG. 1 is a schematic flow chart of a road feeling simulation method according to an embodiment of the present application.

In this embodiment, the road feeling simulation method includes:

Step S10, based on the vehicle speed and the game mode signal, determine the road feeling simulation mode, the road feeling simulation mode includes a normal driving road feeling mode and a game road feeling mode.

The vehicle speed refers to the vehicle speed at the current moment. If the current speed of the vehicle is 0, it means that the vehicle is in a stationary state; if the current speed of the vehicle is greater than 0, it means that the vehicle is in a driving state.

A game mode signal is generated by the vehicle controller to indicate that the vehicle has entered game mode. For example, the central control panel in the vehicle cockpit is provided with two options of normal driving mode and game mode. When the driver selects the game mode, the central control panel sends the selection information to the vehicle controller through the CAN bus, and the vehicle controller The selection information is received, and a game mode signal is generated accordingly. In addition, when the driver selects the normal driving mode, the central control panel sends the selection information to the vehicle controller through the CAN bus, and the vehicle controller receives the selection information without generating any signal.

In this embodiment, when the vehicle speed is 0 and the vehicle controller generates a game mode signal, it is determined that the road feeling simulation mode is the game road feeling mode; when the vehicle speed is greater than 0 and the vehicle controller does not generate a game mode signal, Then it is determined that the road feeling simulation mode is the normal driving road feeling mode.

It should be noted that when the vehicle enters the game mode as a simulator, its driving environment is the environment in the game map, and there is a certain gap with the real environment. Therefore, the embodiment of the present application determines the vehicle's current corresponding The road feeling simulation mode of the system is the normal driving road feeling mode or the game road feeling mode. For different road feeling simulation modes, different road feeling simulation processes are used to obtain the target torque corresponding to the road feeling simulation mode, which further improves the simulated road feeling. sense of authenticity.

Step S20, obtaining the target torque corresponding to the road feeling simulation mode, and sending it to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque.

It should be noted that the motor control module controls the motor to generate the same torque as the target torque, and can accurately feed back the road feeling information to the driver. In this way, the driver can perceive more real vehicle running information, so that the driver can control the vehicle's output. Control commands are also more accurate.

In the previous steps, it has been determined that the road feeling simulation mode is the normal driving road feeling mode or the game road feeling mode. Different road feeling simulation modes correspond to different road feeling simulation processes and correspond to different target torques.

Referring to FIG. 2 , FIG. 2 is a schematic diagram of a refined process for obtaining the target torque corresponding to the road sense mode in the present application.

When the road feeling simulation mode is the normal driving road feeling mode, the target torque corresponding to the road feeling simulation mode is obtained and sent to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque Moment steps, including:

Step A1. Determine the first target torque based on the vehicle speed, rack force, steering wheel angle and steering wheel speed.

Wherein, the step of determining the first target torque based on the vehicle speed, the rack force, the steering wheel angle and the steering wheel speed specifically includes:

Step A11, input the rack position information of the steering actuator, the rack moving speed of the steering actuator and the output torque of the steering actuator motor into a preset rack force prediction model, and the rack force prediction model outputs the rack force .

It should be noted that a rack is provided at the steering actuator, and the rack can move along the length direction of the rack. In this embodiment, one end of the rack can be used as the origin, and the length direction of the rack is the positive direction of the X-axis to construct a one-dimensional coordinate system, and the position of the rack of the steering actuator can be determined in the one-dimensional coordinate system.

In addition, in this embodiment, there is tabular data related to the preset rack position and vehicle speed (the horizontal header of the table is the rack position, the vertical header of the table is the vehicle speed, and the content data in the middle of the table is the rack Moving speed), after obtaining the rack position information and vehicle speed, the rack moving speed of the steering actuator can be obtained by looking up the table.

It should be noted that the action of the steering actuator needs to be controlled by the steering actuator motor. Therefore, in this embodiment, a torque sensor may be provided at the steering actuator motor to detect the output torque of the steering actuator motor.

In this embodiment, the preset rack force preset model is a Kalman filter model, and the rack position information of the steering actuator, the rack moving speed of the steering actuator and the output torque of the steering actuator motor are input to the Kalman filter. In the filtering model, the Kalman filtering model outputs the rack force used to represent the road surface information.

Step A12, based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, determine the first target sub-torque corresponding to the vehicle speed and the rack force.

In this embodiment, based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, the manner of determining the first target sub-torque corresponding to the vehicle speed and the rack force includes the following Two ways:

Mode 1. In this embodiment, there are multiple preset first mapping tables, which are used to characterize the mapping relationship between the rack force and the first target sub-torque, and each first mapping table corresponds to a Vehicle speed. The vehicle speed corresponding to each first mapping table may be a fixed value or a threshold value range.

For example, the vehicle speed corresponding to the first mapping table numbered S1 is v1; the vehicle speed corresponding to the first mapping table numbered S2 is v2; the vehicle speed corresponding to the first mapping table numbered S3 is v3; ...; The vehicle speed corresponding to the first mapping table numbered Sn is vn.

After the vehicle speed is obtained, the corresponding first mapping table is obtained according to the vehicle speed, and the first target sub-torque can be obtained by looking up the table according to the predicted rack force.

For example, the vehicle speeds corresponding to the first mapping table numbered S1 are v1-v2; the vehicle speeds corresponding to the first mapping table numbered S2 are v2-v3; the vehicle speeds corresponding to the first mapping table numbered S3 are The vehicle speed is v3-v4; ...; the vehicle speed corresponding to the first mapping table numbered Sn is vn-vn+1. Wherein, the difference between the upper limit and the lower limit of the threshold range may be 5 km/h or 10 km/h. It can be understood that v2-v1=5km/h or v2-v1=10km/h.

After the vehicle speed is obtained, according to the threshold range of the vehicle speed, the first mapping table corresponding to the threshold range is obtained, and the first target sub-torque can be obtained by looking up the table according to the predicted rack force.

It should be noted that the first mapping table may exist in the form of a mapping curve, the abscissa of the mapping curve is the rack force, and the ordinate is the first target sub-torque.

Mode 2. In this embodiment, there is a preset first mapping table, which is used to characterize the mapping relationship among vehicle speed, rack force and first target sub-torque. The horizontal header of the mapping table is the rack force, the vertical header is the vehicle speed, and the content data in the middle is the first target sub-moment. After obtaining the vehicle speed and the predicted rack force, it can be obtained by looking up the table The first target submoment.

It should be noted that the first mapping table is obtained through real vehicle calibration. When the first mapping table is obtained through real-vehicle calibration, the real-vehicle driving environment includes highways, urban highways, rural dirt roads, winding mountain roads, uphill roads, and downhill roads.

Step A13. Determine the steering wheel angle and the steering wheel speed according to the source steering wheel angle and the source motor angle.

In this embodiment, after the source steering wheel angle is detected by the steering wheel angle sensor, it is transmitted to the vehicle controller through the CAN bus; after the source motor angle is detected by the motor angle sensor, it is transmitted to the vehicle controller through the CAN bus.

Wherein, according to the source steering wheel angle and the source motor angle, the steps of determining the steering wheel angle and the steering wheel speed specifically include:

Step A131 , verify the validity of the source steering wheel angle and the source motor angle.

When the steering wheel angle sensor detects the source steering wheel angle, it often detects two or more signal information, and cross-checks the above multiple signal information. If the deviation between the two signal information exceeds the preset value, that is, it is determined that the signal information is invalid, that is, the source steering wheel angle detected by the steering wheel angle sensor is invalid.

When the motor angle sensor detects the source motor angle, it often detects two or more signal information, and cross-checks the above multi-channel signal information. If the deviation between the two signal information exceeds the preset value, that is, it is determined that the signal information is invalid, that is, the source motor rotation angle detected by the motor rotation angle sensor is invalid.

Step A132. If both the source steering wheel angle and the source motor angle are valid, initialize the source motor angle to obtain an initialized motor angle.

In this embodiment, the initialization motor rotation angle is obtained by performing zero calibration on the source motor rotation angle. It can also be understood as converting the relative motor rotation angle into an absolute rotation angle that matches the vehicle's straight-ahead zero position. The source motor rotation angle without zero calibration is the relative motor rotation angle, which only represents the rotation angle of the motor and has nothing to do with the steering wheel rotation angle of the vehicle. The zero position calibration of the motor rotation angle is calibrated by the diagnostic instrument. After the four-wheel alignment of the vehicle, the motor rotation angle is biased by the diagnostic instrument. The motor rotation angle after zero calibration is the absolute rotation angle (initialization of the motor rotation angle), which can be Indicates the steering wheel angle.

Step A133 , performing proportional conversion on the initialization motor rotation angle to obtain the steering wheel rotation angle.

There is a fixed transmission ratio between the rotation angle of the source motor and the rotation angle of the source steering wheel, such as the transmission ratio of a worm gear or a ball screw. After performing zero calibration to obtain the initial motor rotation angle, directly multiply the above transmission ratio to obtain the steering wheel rotation angle.

Step A134 , performing differential processing on the initialization motor rotation angle to obtain the steering wheel rotation speed.

Step A14: Determine the damping torque based on the steering angle and the rotation speed of the steering wheel.

In this embodiment, there is a preset damping torque mapping table. The damping torque mapping table is used to characterize the mapping relationship between the steering angle, the steering wheel speed and the damping torque. The horizontal header of the table is the steering angle, The vertical meter head is the steering wheel speed, and the content data in the middle is the damping torque. After the steering angle and steering wheel speed are obtained, the damping torque can be obtained by looking up the table.

It should be noted that the tables related to the preset steering angle, steering wheel speed and damping torque are obtained through real vehicle calibration.

Step A15 , superimposing the first target sub-torque and the damping torque to obtain a first target torque.

Step A2, sending the first target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the first target torque.

Further, in this embodiment, based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, the relationship between the vehicle speed and the first target sub-torque corresponding to the rack force is determined Before step, also include:

Perform high-pass filter processing on the rack force to obtain high-frequency rack force.

In this embodiment, high-pass filtering is performed on the rack force to obtain high-frequency rack force, which removes the noise parameters in the rack force, improves the accuracy of the first target sub-torque, and further improves the simulated road feel authenticity.

It should be noted that after the rack force is subjected to high-pass filtering, in step A12, based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, the corresponding vehicle speed and rack force are determined The first target sub-torque is to determine the first target sub-torque corresponding to the vehicle speed and the high-frequency rack force.

When the road feeling simulation mode is the game road feeling mode, obtain the target torque corresponding to the road feeling simulation mode and send it to the motor control module, so that the motor control module controls the motor to generate the same target torque The moment steps include:

Step B1. Determine the second target torque based on the game map information, steering wheel angle and steering wheel speed.

Wherein, the step of determining the second target torque based on the game map information, the steering wheel angle and the steering wheel speed specifically includes:

Step B11, based on the game map information, determine the vehicle speed of the game scene and the impact frequency of the game scene.

In this embodiment, the road in the game map is divided into a plurality of sections, and each section corresponds to the vehicle speed of the game scene and the impact frequency of the game scene. After obtaining the location information of the vehicle in the game map, determine the section to which the vehicle belongs according to the location information, and obtain the vehicle speed of the game scene and the impact frequency of the game scene corresponding to the section to which the vehicle belongs.

It should be noted that the speed of the game scene and the impact frequency of the game scene corresponding to each segment can be set manually, and the specific values set are not limited in this embodiment. The speed of the vehicle in the game scene and the impact frequency of the game scene can be fixed values or a threshold range.

It should be noted that the roads in the game map are divided into multiple sections based on intersections, T-junctions, highway entrance ramps, highway exit ramps, uphill start points, uphill end points, and downhill start points and downhill end points, etc.

Step B12. Determine the steering wheel angle and the steering wheel speed according to the source steering wheel angle and the source motor angle.

It should be noted that for the specific steps of step B12, reference may be made to step A13, which will not be described in detail in this embodiment.

Step B13: Determine a second target sub-torque based on the vehicle speed in the game scene, the steering wheel angle, and the steering wheel rotation speed.

In this embodiment, there are a plurality of second mapping tables, and the second mapping tables are used to characterize the mapping relationship between the steering wheel angle, the steering wheel speed and the second target sub-torque. The horizontal header of the second mapping table is the steering wheel angle, the vertical gauge is the steering wheel speed, and the content data in the middle is the second target sub-torque. Each second mapping table corresponds to a vehicle speed in a game scene.

For example, the speed of the game scene corresponding to the second mapping table numbered M1 is V1; the speed of the game scene corresponding to the second mapping table numbered M2 is V2; the speed of the game scene corresponding to the second mapping table numbered M3 is V3; ...; the second mapping table numbered Mn corresponds to the game scene vehicle speed Vn.

After the vehicle speed in the game scene is obtained, the corresponding second mapping table is obtained according to the vehicle speed in the game scene, and the second target sub-torque can be obtained by looking up the table according to the obtained steering wheel angle and steering wheel speed.

For example, the speed of the game scene corresponding to the second mapping table numbered M1 is V1-V2; the speed of the game scene corresponding to the second mapping table numbered M2 is V2-V3; the game scene corresponding to the second mapping table numbered M3 The speed of the vehicle is V3-V4; ...; the speed of the vehicle in the game scene corresponding to the second mapping table numbered Mn is Vn-Vn+1. Wherein, the difference between the upper limit and the lower limit of the threshold range may be 5 km/h or 10 km/h. It can be understood that V2-V1=5km/h or V2-V1=10km/h.

After obtaining the vehicle speed in the game scene, according to the threshold range of the vehicle speed in the game scene, the second mapping table corresponding to the threshold range is obtained, and the second target sub-torque can be obtained by looking up the table according to the obtained steering wheel angle and steering wheel speed.

It should be noted that the second mapping table is artificially set in this embodiment.

Step B14. Determine the impact moment based on the impact frequency of the game scene.

In this embodiment, there is a preset mapping relationship between the impact frequency of the game scene and the impact torque. For example, when the impact frequency of the game scene ranges from f1 to f2, the corresponding impact torque T1; when the impact frequency of the game scene ranges from f2 to f3, corresponds to the impact torque T2; Torque T3; ...; When the impact frequency of the game scene ranges from fn-1 to fn, it corresponds to the impact torque Tn.

Determining the impact moment based on the impact frequency of the game scene may be understood as determining the range of the impact frequency of the game scene and obtaining the impact torque corresponding to the range.

Step B15 , superimposing the second target sub-torque and the impact moment to obtain a second target torque.

Step B2, sending the second target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the second target torque.

The embodiment of the present application provides a road feeling simulation method. Compared with the road feeling simulation method in the prior art, which is only applicable to the road feeling simulation during the normal driving process of the vehicle, the embodiment of the present application is based on the speed of the vehicle and the game mode Signal to determine the road feeling simulation mode, the road feeling simulation mode includes the normal driving road feeling mode and the game road feeling mode, and then obtain the target torque corresponding to the road feeling simulation mode, and send it to the motor control module, so that all The motor control module controls the motor to generate the same torque as the target torque. Therefore, in the embodiment of the present application, the vehicle speed and the game mode signal are used to determine the current road feeling simulation mode of the vehicle, and then obtain the target corresponding to the road feeling simulation mode. Moment, the road feeling simulation method of the embodiment of the present application is applicable to the road feeling simulation of the normal driving process of the vehicle and when the vehicle is used as a simulator, which expands the scope of application, so it overcomes the road feeling simulation method in the prior art that is only applicable to vehicles The technical defect of the road feeling simulation in the normal driving process, therefore, solves the technical problem that the road feeling simulation method has a single application range.

The embodiment of the present application also provides a road feeling simulation system. Referring to FIG. 3 , FIG. 3 is a schematic structural diagram of a road feeling simulation system according to an embodiment of the present application.

In this embodiment, the road feeling simulation system includes:

The mode determining module 10 is used to determine the road feeling simulation mode based on the vehicle speed and the game mode signal, and the road feeling simulation mode includes a normal driving road feeling mode and a game road feeling mode;

The target torque acquiring module 20 is used to acquire the target torque corresponding to the road feeling simulation mode, and send it to the motor control module, so that the motor control module can control the motor to generate the same torque as the target torque.

Optionally, the target torque acquisition module includes:

The first target torque determination sub-module is used to determine the first target torque based on vehicle speed, rack force, steering wheel angle and steering wheel speed when the road feeling simulation mode is a normal driving road feeling mode;

The second target torque determination sub-module is used to determine the second target torque based on the game map information, the steering wheel angle and the steering wheel speed when the road feeling simulation mode is the game road feeling mode;

A data sending sub-module, configured to send the first target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the first target torque;

Alternatively, the second target torque is sent to the motor control module, so that the motor control module controls the motor to generate the same torque as the second target torque.

Optionally, the first target torque determination submodule includes:

The rack force prediction unit is used to input the rack position information of the steering actuator, the rack moving speed of the steering actuator and the output torque of the steering actuator motor to a preset rack force prediction model, and the rack force prediction Model output rack force;

A first target sub-torque determining unit, configured to determine a first target sub-torque corresponding to the vehicle speed and the rack force based on a preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque ;

a steering wheel parameter determining unit, configured to determine the steering wheel rotation angle and the steering wheel rotation speed according to the source steering wheel rotation angle and the source motor rotation angle;

a damping torque determining unit, configured to determine a damping torque based on the steering angle and the steering wheel rotation speed;

The first target torque determining unit is configured to superimpose the first target sub-torque and the damping torque to obtain a first target torque.

Optionally, the first target torque determination submodule also includes:

a high-frequency rack force acquisition unit, configured to perform high-pass filter processing on the rack force to obtain a high-frequency rack force;

The first target sub-torque determining unit is configured to determine a first target sub-torque corresponding to the vehicle speed and the high-frequency rack force based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque. A target moment.

Optionally, the second target torque determination submodule includes:

The game scene parameter determination unit is used to determine the speed of the game scene and the impact frequency of the game scene based on the game map information;

a steering wheel parameter determining unit, configured to determine the steering wheel rotation angle and the steering wheel rotation speed according to the source steering wheel rotation angle and the source motor rotation angle;

A second target sub-torque determining unit, configured to determine a second target sub-torque based on the vehicle speed in the game scene, the steering wheel angle and the steering wheel rotation speed;

The impact moment determination unit is used to determine the impact moment based on the impact frequency of the game scene;

The second target moment determination unit is configured to superimpose the second target sub-torque and the impact moment to obtain a second target moment.

Optionally, the steering wheel parameter determination unit includes:

The validity verification subunit is used to verify the validity of the source steering wheel angle and the source motor angle;

The initialization subunit is configured to initialize the source motor rotation angle to obtain the initialization motor rotation angle if both the source steering wheel rotation angle and the source motor rotation angle are valid;

A proportional conversion subunit is used for performing proportional conversion on the initialization motor rotation angle to obtain the steering wheel rotation angle;

The differential processing subunit is configured to perform differential processing on the initialization motor rotation angle to obtain the rotation speed of the steering wheel.

Optionally, the initialization subunit is used to implement:

Zero calibration is performed on the source motor rotation angle to obtain an initialization motor rotation angle.

The specific implementation manners of the road feeling simulation system in this embodiment of the present application are basically the same as those of the above embodiments of the road feeling simulation method, and will not be repeated here.

The embodiment of the present application also provides a road feeling simulation device. Referring to FIG. 4 , FIG. 4 is a schematic structural diagram of a road-sensing simulation device in a hardware operating environment involved in the solution of the embodiment of the present application.

As shown in FIG. 4 , the road feeling simulation device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the structure shown in FIG. 4 does not constitute a limitation on the road feeling simulation device, and may include more or less components than shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 4 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a road sense simulation program.

In the road sense simulation device shown in Figure 4, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001, memory 1005 may be set in a road sense simulation device, and the road sense simulation device invokes a road sense simulation program stored in the memory 1005 through the processor 1001, and executes the road sense simulation method provided in the embodiment of the present application.

The specific implementation manner of the road feeling simulation device in the embodiment of the present application is basically the same as that of the above embodiments of the road feeling simulation method, and will not be repeated here.

The embodiment of the present application also provides a storage medium, on which a road sense simulation program is stored, and when the road sense simulation program is executed by a processor, the steps of the above road sense simulation method are implemented.

The specific implementation manners of the storage medium in the present application are basically the same as the embodiments of the above-mentioned road feeling simulation method, and will not be repeated here.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium as described above (such as ROM/RAM , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structures or equivalent process transformations made by using the description of the application and the accompanying drawings are directly or indirectly used in other related technical fields. , are all included in the patent protection scope of the present application in the same way.

Claims (8)

1. a road feeling simulation method, is characterized in that, described road feeling simulation method comprises the following steps: Based on the vehicle speed and the game mode signal, the road feeling simulation mode is determined, and the road feeling simulation mode includes a normal driving road feeling mode and a game road feeling mode; Acquiring the target torque corresponding to the road sense simulation mode, and sending it to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque; The step of obtaining the target torque corresponding to the road sense simulation mode and sending it to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque, includes: When the road feeling simulation mode is a normal driving road feeling mode, the first target torque is determined based on vehicle speed, rack force, steering wheel angle and steering wheel speed; sending the first target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the first target torque; When the road feeling simulation mode is the game road feeling mode, the second target torque is determined based on the game map information, the steering wheel angle and the steering wheel speed; sending the second target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the second target torque; The step of determining the second target torque based on the game map information, the steering wheel angle and the steering wheel speed includes: Based on the game map information, determine the speed of the game scene and the impact frequency of the game scene; Determine the steering wheel angle and steering wheel speed according to the source steering wheel angle and the source motor angle; Determine a second target sub-moment based on the vehicle speed in the game scene, the steering wheel angle, and the steering wheel rotation speed; Determine the impact moment based on the impact frequency of the game scene; The second target torque is obtained by superimposing the second target sub-torque with the impact torque. 2. The road feeling simulation method according to claim 1, wherein the step of determining the first target torque based on vehicle speed, rack force, steering wheel angle and steering wheel speed comprises: Inputting the position information of the rack of the steering actuator, the moving speed of the rack of the steering actuator and the output torque of the motor of the steering actuator to a preset rack force prediction model, the rack force prediction model outputs the rack force; Determining the first target sub-torque corresponding to the vehicle speed and the rack force based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque; Determine the steering wheel angle and steering wheel speed according to the source steering wheel angle and the source motor angle; determining a damping torque based on the steering wheel angle and the steering wheel speed; The first target torque is obtained by superimposing the first target sub-torque with the damping torque. 3. The road feeling simulation method according to claim 2, characterized in that, based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, the vehicle speed and the Before the step of the first target sub-moment corresponding to the rack force, it also includes: performing high-pass filtering on the rack force to obtain high-frequency rack force; The step of determining the first target sub-torque corresponding to the vehicle speed and the rack force based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque includes: Based on the preset mapping relationship between the vehicle speed and the rack force and the first target sub-torque, the first target sub-torque corresponding to the vehicle speed and the high-frequency rack force is determined. 4. The road feeling simulation method according to claim 1 or 2, wherein the step of determining the steering wheel angle and the steering wheel speed according to the source steering wheel angle and the source motor angle includes: Verify the validity of the source steering wheel angle and the source motor angle; If both the source steering wheel angle and the source motor angle are valid, then initialize the source motor angle to obtain an initialized motor angle; Proportional conversion is performed on the initialization motor angle to obtain the steering wheel angle; Perform differential processing on the initialized motor rotation angle to obtain the rotation speed of the steering wheel. 5. The road feeling simulation method according to claim 4, wherein the step of initializing the rotation angle of the source motor to obtain the initialization motor rotation angle includes: Zero calibration is performed on the source motor rotation angle to obtain an initialization motor rotation angle. 6. A sense of road simulation system, characterized in that, the sense of road simulation system comprises: A mode determination module, configured to determine a road feeling simulation mode based on the vehicle speed and the game mode signal, and the road feeling simulation mode includes a normal driving road feeling mode and a game road feeling mode; A target torque acquisition module, configured to acquire the target torque corresponding to the road sense simulation mode, and send it to the motor control module, so that the motor control module controls the motor to generate the same torque as the target torque; The target torque acquisition module includes: The first target torque determination sub-module is used to determine the first target torque based on vehicle speed, rack force, steering wheel angle and steering wheel speed when the road feeling simulation mode is a normal driving road feeling mode; The second target torque determination sub-module is used to determine the second target torque based on the game map information, the steering wheel angle and the steering wheel speed when the road feeling simulation mode is the game road feeling mode; A data sending sub-module, configured to send the first target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the first target torque; or sending the second target torque to the motor control module, so that the motor control module controls the motor to generate the same torque as the second target torque; The second target torque determination submodule includes: The game scene parameter determination unit is used to determine the speed of the game scene and the impact frequency of the game scene based on the game map information; a steering wheel parameter determining unit, configured to determine the steering wheel rotation angle and the steering wheel rotation speed according to the source steering wheel rotation angle and the source motor rotation angle; A second target sub-torque determining unit, configured to determine a second target sub-torque based on the vehicle speed in the game scene, the steering wheel angle and the steering wheel rotation speed; The impact moment determination unit is used to determine the impact moment based on the impact frequency of the game scene; The second target moment determination unit is configured to superimpose the second target sub-torque and the impact moment to obtain a second target moment. 7. A road feeling simulation device, characterized in that the device includes: a memory, a processor, and a road feeling simulation program stored on the memory and operable on the processor, the road feeling simulation program It is configured to realize the steps of the road feeling simulation method according to any one of claims 1 to 5. 8. A storage medium, characterized in that a road feeling simulation program is stored on the storage medium, and when the road feeling simulation program is executed by a processor, the road feeling simulation according to any one of claims 1 to 5 is realized method steps.

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